EP2688720B1 - Mobiles robotermanipulatorsystem - Google Patents

Mobiles robotermanipulatorsystem Download PDF

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Publication number
EP2688720B1
EP2688720B1 EP12760628.3A EP12760628A EP2688720B1 EP 2688720 B1 EP2688720 B1 EP 2688720B1 EP 12760628 A EP12760628 A EP 12760628A EP 2688720 B1 EP2688720 B1 EP 2688720B1
Authority
EP
European Patent Office
Prior art keywords
finger
joints
joint
assembly
electrolaminate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP12760628.3A
Other languages
English (en)
French (fr)
Other versions
EP2688720A4 (de
EP2688720A2 (de
Inventor
Pablo E. Garcia
Thomas P. Low
Harsha Prahlad
Daniel AUKES
Susan Kim
Roy D. Kornbluh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SRI International Inc
Original Assignee
SRI International Inc
Stanford Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SRI International Inc, Stanford Research Institute filed Critical SRI International Inc
Priority to EP21198553.6A priority Critical patent/EP3954512A3/de
Publication of EP2688720A2 publication Critical patent/EP2688720A2/de
Publication of EP2688720A4 publication Critical patent/EP2688720A4/de
Application granted granted Critical
Publication of EP2688720B1 publication Critical patent/EP2688720B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0085—Gripping heads and other end effectors with means for applying an electrostatic force on the object to be gripped
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H21/00—Gearings comprising primarily only links or levers, with or without slides
    • F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
    • F16H21/40—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for interconverting rotary motion and oscillating motion
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
    • H02N13/00—Clutches or holding devices using electrostatic attraction, e.g. using Johnson-Rahbek effect
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/30—End effector
    • Y10S901/31—Gripping jaw
    • Y10S901/39—Jaw structure
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm
    • Y10T74/20323—Robotic arm including flaccid drive element

Definitions

  • the invention relates generally to robotic manipulator systems. More specifically, the invention relates to robotic appendages.
  • the finger assembly further comprises a brake subsystem, in communication with each of the joints, adapted to selectively lock and unlock the joints individually.
  • the brake subsystem includes a multilayer electrolaminate composite structure that is integrated into each joint, the multilayer electrolaminate composite structure stiffening the joint in response to an electrical signal.
  • Embodiments of robotic manipulators employ selective underactuation, compliant force control, and multimodal tactile, position, and force sensing.
  • Underactuation when applied a mechanical device, signifies that the device has fewer actuators than degrees of freedom.
  • Controllable selective underactuation as described below, enable a robotic hand to grasp unknown objects using a power grasp, and then to switch to a precision grasp in order to perform operations requiring fine control of fingertip position and force.
  • a power grasp involves the palm and fingers in combination to secure an object firmly in the hand, whereas a precision grasp involves the fingertip regions to control the pose of an object precisely.
  • a robotic hand can employ a combination of power and precision grasps to hold, manipulate, and reposition an object, a process referred to as re-grasping.
  • each underactuated finger can lock and unlock independently in response to an electrical signal. This selective locking of joints allows a single actuator to multiplex the flexing of the finger joints.
  • each underactuated finger can passively wrap around an object of unknown shape to cooperate in a power grasp, and then selected joints of the fingers can be locked so the fingers can cooperate in a pincer to perform a precision grasp.
  • a transmission integrated into each underactuated finger is backdriveable and has built-in elasticity, making the robotic hand resistant to shock and overload.
  • Grasping surfaces i.e., skin
  • the skin is abrasion-resistant and controllably compliant; the finger can be "soft" when making contact with objects of unknown shape and structure, and firm to control its precision precisely after making contact.
  • Sensor assemblies integrated in the skin can sense contact pressure, slippage, and vibration. Fingers can detect contact points, grasping and pinching forces, the stability of the object, and slippage. These abilities enable manipulation and re-grasping of objects by rolling and sliding objects between fingertips.
  • Other sensor devices can be incorporated into the finger to sense other types of parameters, for example, temperature and pressure.
  • Each finger 16 can flex forward or backward at any of the joints and has three degrees of freedom (DOF); although the finger can have fewer or more DOFs, depending upon the particular application.
  • DOF degrees of freedom
  • a single actuator controls all three degrees of a finger, with selective locking of the joints allowing the single actuator to multiplex the flexing of the joints, individually, or in groups. By locking and unlocking the joints in rapid succession, the joints can appear to move and be controlled simultaneously.
  • the finger modules 12-1, 12-2 are movably coupled to one side of the palm assembly 14, and the other finger modules 12-3, 12-4 are fixed in position to the opposite side of the palm assembly 14.
  • the finger modules 12-1, 12-2 can move together or apart. Fixing the location of the other finger modules 12-3, 12-4, makes their locations known and predictable, which is advantageous for precision grasps involving pinching by opposing finger modules (e.g. 12-1 and 12-4).
  • FIG. 2 and FIG. 3 show a side view and front view, respectively, of one embodiment of the robotic hand 10 extending from a forearm 30.
  • Each finger 16 has a protective fingernail 32 at its fingertip. The fingernails of opposing fingers can be used to grasp small edges.
  • FIG. 4, FIG. 5, and FIG. 6 show the robotic hand 10 in three different configurations.
  • the fingers 16-1, 16-2 are directly opposed to the fingers 16-3, 16-4 (finger 16-1 being directly opposite finger 16-4; finger 16-2 being directly opposite to finger 16-3).
  • the finger modules 12-1, 12-2 are together, adjacent to each other, approximately midway along the side of the palm assembly 14.
  • the fingers 16 are bent so that the distal phalanges 20-3 and intermediate phalanges 20-2 of the fingers 16-1 and 16-4 are parallel to each other; as are the distal 20-3 and intermediate phalanges 20-2 of the fingers 16-2 and 16-3.
  • the finger modules 12-1, 12-2 are disposed in a track 40 along which the finger modules 12-1, 12-2 can travel laterally along the side of the palm assembly 14. This lateral movement capability of the finger modules 12-1, 12-2 makes the anatomy of the robotic hand 10 dynamically reconfigurable.
  • the fingers 16-1, 16-2 are spatially apart from each other and arched toward the other fingers 16-3, 16-4, which arch back toward the fingers 16-1, 16-2.
  • the arrangement produces a spherical pose among the fingers 16.
  • the fingers 16-1, 16-2 are spatially apart from each other at opposite ends of the track 40 and bent forward.
  • the other fingers 16-3 and 16-4, fixed in their positions on the opposite side of the palm assembly 14, are also bent forward, extending in the opposite direction of and coming in between the bent fingers 16-1 and 16-2, producing an interlaced arrangement among the fingers 16.
  • FIGS. 7 through FIG. 11 show different grasps of which the robotic hand 10 is capable.
  • the different grasps presented are merely illustrative examples; many other types of grasps are possible.
  • the underactuated fingers are executing a power grasp of an irregularly shaped object 50.
  • FIG. 8 shows the underactuated fingers in an interlaced configuration grasping a flashlight 52.
  • FIG. 9 shows the fingers in a spherical configuration grasping a sphere 54. Two of the fingers use a power grasp to pinch a key 56 in FIG. 10 , whereas, in FIG. 11 , two fingers use a precision grasp to pinch a pencil 58.
  • FIG. 12A and FIG. 12B show the use of selective locking of the joints of two opposing fingers 16-1 and 16-4 to alter a grasp of an object 60.
  • the fingers conform to the shape of the object 60, and the robotic hand 10 performs a power grasp.
  • the fingers 16 can close about the object until a finger detects light contact with the object.
  • its proximal joint 18-3 can be locked, while the remaining intermediate and distal joints of the finger remain unlocked.
  • the intermediate and distal joints can continue to flex without increasing the contact force applied to the object. Accordingly, the contact with the object causes minimal disturbance of the object.
  • the intermediate joint 18-2 can be locked, for example, after contact is detected on the intermediate phalange 20-2, while the distal joint 18-3 remains unlocked.
  • force can be transferred force to distal joint 18-3, and the finger 16 has thus progressed from being underactuated with three degrees of freedom to having a single degree of freedom.
  • all joints can be locked to stiffen the grasp, as shown in FIG. 12B .
  • FIG. 13 shows the use of selective locking of the joints of two opposing fingers 16-1 and 16-4 to perform a precision grasp on a spherical object 62, which is held between the fingertips.
  • the proximal joints 18-1 of both fingers are unlocked, while the intermediate joints 18-2 and distal joints 18-3 of both fingers 16-1, 16-4 are locked, which effectively locks their distal phalanges 20-3.
  • FIG. 14 shows the use of selective locking of the joints of two opposing fingers 16-1 and 16-4 to perform a precision grasp on a flat object 64.
  • the distal phalanges 20-3 of the opposing fingers can hyperextend to form a flat gripper, which provides a simple way of grasping small objects. To hold the object, all of the joints can be unlocked.
  • FIG. 15A and FIG. 15B show the use of selective locking of the joints of two opposing fingers 16-1 and 16-4 to hold, manipulate, and re-grasp an object 66.
  • the robotic hand has the object in a precision grasp, with the proximal joints 18-1 and intermediate joints 18-2 of both fingers being unlocked, while the distal joints 18-3 of both fingers are locked.
  • the distal phalange 20-3 of the finger 16-1 pushes upwards against the object 66 and then locks its intermediate joint 18-2, momentarily holding the finger 16-1 in this present position so that the other finger 16-4 can make the next move to further the rotation.
  • the fingers can cooperate to manipulate and re-grasp objects held by the fingers 16 of the hand 10.
  • FIG. 15A and FIG. 15B are just one example of how the robotic hand 10 can re-grasp an object. Numerous other techniques are possible, for instance, using three fingers to hold an object in a power grasp, while a fourth finger moves the object held in the power grasp.
  • the robotic hand 10 can use three fingers to hold a flashlight in a power grasp, and a fourth finger to rotate the flashlight to find and press its on/off button.
  • FIG. 16 shows an exploded view of one embodiment of the robotic hand 10 including the four finger modules 12-1, 12-2, 12-3, 12-4 and the palm assembly 14. All finger modules 12 are modular in construction; they are interchangeable, and can either be fixed or movably coupled to the palm assembly 14.
  • the palm assembly 14 includes a palm 68, a motor-and-hand controller PCB (printed circuit board) stack 70, a divider 72, a finger-spreader motor 74, a finger-spreader actuator 76, two finger-spreader blocks 78, a finger-module mount 80, high-voltage electronics 82, a base housing 84, and an arm adapter 86.
  • PCB printed circuit board
  • the arm adapter 86 couples the robotic hand 10 to a robotic forearm, for example, a GFE Barrett Arm (not shown).
  • the base housing 84 attaches to the raised surface of the arm adapter 86.
  • the high-voltage electronics 82 are housed within the base housing 84 and distribute power to the finger modules 12, motor-and-hand controller stack 70, and finger-spreader motor 74.
  • the high-voltage electronics 82 include multiple switchable channels of high voltage ( ⁇ 1kV) used to selectively lock and unlock joints 18, as described in more detail below.
  • the finger-spreader actuator 76 mounts to the open side of the finger module mount 80, and the finger module mount 80 connects to the top surface of the base housing 84.
  • the finger-spreader motor 74 resides within a compartment defined by the side wall of the finger module mount 80 and the finger-spreader actuator 76.
  • the finger-spreader motor 74 is operably coupled to move the finger-spreader actuator 76.
  • the finger modules 12-3, 12-4 attach to the exterior of the side wall of finger module mount 80.
  • Each finger-spreader block 78 couples one of the other finger modules 12-1, 12-2 to the finger-spreader actuator 76.
  • the palm 68 houses the motor-and-hand controller stack 70 and attaches to the top of the finger-module mount 80, the divider 72 serving as a gasket between the palm 68 and finger-module mount 80.
  • the motor-and-hand controller stack 70 controls operation of the finger-spreader motor 74 in response to control commands, and interfaces with the finger modules 12 and the high-voltage electronics 82.
  • Control signals sent from the motor-and-hand controller stack 70 to the high-voltage electronics 82 control the use of electroadhesion in the skin of the fingers and switch high voltage (e.g., +1kV; -1kV) among the electrolaminate brakes used to selectively lock and unlock the finger joints 18.
  • high voltage e.g., +1kV; -1kV
  • FIG. 17 shows an embodiment of a finger module 12 including the finger assembly 16 mounted to an actuator module 90.
  • the actuator module 90 provides a backdriveable, twisted-string transmission with built-in compliance and low backlash. Although shown to be integrated into the finger module 12, in other embodiments, the twisted-string transmission of the actuator module 90 can be implemented in or mounted on a forearm connected to the robotic hand 10.
  • the actuator module 90 houses a motor 92, a machined spring 94, a motor encoder 96, a twisted string 98, a Hall Effect sensor 100, and a sensor circuit board 102 with a controller (e.g., 80 MIPS DSP).
  • the motor 92 is, in one embodiment, a brushless DC motor (e.g., 15W) with a high gear ratio (i.e., greater than 50:1).
  • the motor encoder 96 tracks the position of the motor 92.
  • the twisted string 98 is coupled by the finger mount 24 (FIG. to the drive tendon 130.
  • the twisted string 98 can be a KEVLAR, Spectra, or Vectran cable.
  • the Hall Effect sensor 100 measures compression of the twisted string 98 to provide a force feedback signal, and the controller and sensor board 102 includes a force/current sensor that can measure actuator torque.
  • the actuator module 90 translates rotary motion of the motor 92 to linear motion of a tendon 130 ( FIG. 22 ) within the finger 16.
  • the motor 92 twists the twisted string 98. Twisting motion in one direction causes the length of the twisted string 98 to shorten, which causes a pull of the tendon 130 through the finger, causing the finger to actuate.
  • the finger 16 flexes accordingly depending on which joints are locked and unlocked. Twisting in the other direction releases compression on the twisted string 98; and the spring return 140 ( FIG. 24 ) urges the finger 16 to extend in a manner depending on which joints are presently locked and unlocked.
  • the actuator module 90 can be responsive to external disturbances and maintain the force exerted on the finger below a certain level. If active force control is used to backdrive the transmission, sensors measure external forces exerted on the finger 16, and provide feedback. In response to this feedback, the actuator module 90 actively causes the motor 92 to move the finger in a manner as though the external forces were pushing the finger. Thus, the finger does not wholly resist the external forces, but moves with them.
  • the transmission can be passively backdriveable without a sensor or a closed feedback loop buy using a low gear ratio (below 1:50) and having high efficiency.
  • FIG. 19 shows an exploded view of one embodiment of a finger module 12 including the finger assembly 16 and the actuator module 90 (exploded into three pieces: a plastic housing 90A, a palm assembly mount 90B with the notch 106, and a cover 90C). Also shown are the motor 92, the machined spring 94, the motor encoder 96, the sensor board 102, a forced-sensor assembly 110, and a twisted string assembly 112 with the twisted string 98. In addition, a flat flex electrical circuit 114 extends from the actuator module 90 to the proximal joint 18-1. The flex circuit 114 contains the communication bus for the position and tactile sensors in the fingers.
  • FIG. 20 and FIG. 21 show examples of mechanical compliance provided by the finger mount 24 used to join the finger assembly 16 to the actuator module 90.
  • FIG. 20 shows to what degree the finger assembly 16 can be twisted relative to the actuator module 90.
  • the finger module 20 is designed for ⁇ 15 degrees of twisting with respect to axis 120.
  • FIG. 21 shows a measure of lateral compliance of the finger assembly 16 relative to the actuator module 90. Measured with respect to the axis 122, the finger assembly can tilt ⁇ 15 degrees.
  • a flexure feature in the proximal joint 18-1 in the finger mount 24 at the base of the finger assembly 16 provides the rotational compliance. When an object is grasped with multiple fingers, the rotational and lateral compliance of the fingers can ensure that the fingers passively align and balance the normal forces exerted on the object.
  • the brake subsystem 158 provides the ability to lock and unlock joints.
  • the brake subsystem 158 is shown here as a pre-assembled unit. Alternatively, the brake subsystem 158 can be assembled on the skeleton.
  • the hollow pins 162 extend through openings in the brake subsystem 158, the pulleys 154, and skeleton 150. The ends of the hollow pins 162 are flared to secure the assembly.
  • the rivets 166 secure the skeleton 160 to the brake subsystem 158.
  • FIG. 28 shows an example of the finger assembly 16 according to the invention, with its distal joint 18-3 shown in detail.
  • the distal joint 18-3 includes the cable pulley 154-3 and a multilayered composite structure 180 made of electrolaminate materials.
  • electrolaminates change from compliant and spring-like to essentially rigid, using electrostatic clamping to control the connectivity between different materials in the layered composite structure.
  • the electrolaminate structure can withstand slip under pressure.
  • the maximum force that the composite electrolaminate structure 180 can withstand is a function of the properties of the clamping surfaces, the applied voltage, and the total clamping area. Typical maximum clamping pressures are about 0.4 Mpa (70 psi).
  • the multilayered composite electrolaminate structure 180 can be fabricated as a monolithic sheet 190 ( FIG. 31A ) with individual attachment points to each joint (or set of joints) that can be locked.
  • the multilayered composite electrolaminate structure 180 includes passive (voltage-off) compliant elements that operate to oppose the actuator tendon 130 and provide an extensional force for each joint 18.
  • the multilayered composite electrolaminate structure 180 can be shielded by locating the ground planes on the outermost electrodes, or by encircling the electrolaminate structure 180 in a conductive elastomeric sheath.
  • the electroadhesive (EA) layer 224 is an electrically controllable skin layer capable of adhering to many materials surfaces, producing the effect of variable skin friction. This friction can assist in gripping objects to overcome slippage and enhance grasping capability.
  • the EA layer 224 enables grasping objects of various sizes, with lower grasping forces, by controlling traction and sliding.
  • the EA layer 224 can clamp on many types of materials, including, but not limited to, glass, wood, metal, concrete, drywall, brick, and granite. The clamping forces vary with the material.
  • the EA layer 224 consumes almost no power (e.g., 0.02 mW/N of weight supported).
  • the EA layer 224 can be detachable without affecting the mechanical grasping capabilities of the finger. The detachability enables use of the EA layer 224 whenever the EA layer 224 is appropriate for the task.
  • the flex circuit board 152' can further include a position sensor 248 having a sensor array 250 and built-in shield 252.
  • the sensor 248 provides the position of each joint.
  • the sliding component 264 is eliminated and, in its place, a fixed pin 270 or pulley is used.
  • the distance between the rotating input shaft (of the motor) and the pin 270 is constant and fixed by the designer.
  • the actuator input (motor) 260 is rotated, the cords 262 between the actuator input 260 and the fixed pin 270 twist, shortening and pulling additional untwisted string past the fixed pin or pulley into the twisted region. In this manner, the length of the string that is twisted is no longer fixed, but increases as the actuator input shaft rotates.
  • the computer readable medium may be a computer readable signal medium or a computer readable storage medium.
  • a computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Claims (7)

  1. Unteraktuierte Roboterfingeranordnung (16), die Folgendes umfasst:
    ein Fingerskelett (150; 160) mit mehreren Gelenken (18-1; 18-2; 18-3) einschließlich eines distalen Gelenks (18-3), eines mittleren Gelenks (18-2) und eines proximalen Gelenks (18-1); und
    ein Bremsteilsystem (158), das mit jedem der Gelenke (18-1; 18-2; 18-3) in Verbindung steht, das angepasst ist, um die Gelenke individuell wahlweise zu verriegeln und zu entriegeln;
    dadurch gekennzeichnet, dass das Bremsteilsystem (158) eine mehrschichtige Elektrolaminatverbundstruktur (180) einschließt, die in jedes Gelenk (18-1; 18-2; 18-2) integriert ist, wobei die mehrschichtige Elektrolaminatverbundstruktur (180) das Gelenk (18-1; 18-2; 18-3) als Reaktion auf ein elektrisches Signal versteift.
  2. Anordnung nach Anspruch 1 und beliebiges Folgendes:
    a) wobei das Bremsteilsystem (158) Segmente von mehrschichtigen Elektrolaminatverbundstrukturen (180) einschließt und wobei sich die Schichten der mehrschichtigen Elektrolaminatverbundstrukturen (180) von angrenzenden Segmenten an jedem Gelenk (18-1; 18-2; 18-2) überlappen; oder
    b) wobei das Bremsteilsystem (158) zwei oder mehr Gelenke (18-1; 18-2; 18-2) als eine Gruppe verriegeln und entriegeln kann.
  3. Anordnung nach Anspruch 1, die ferner ein Spannglied (130) umfasst, das durch das Fingerskelett (160) um jedes der Gelenke (18-1; 18-2; 18-3) herum geführt ist, um einen Aktuator bereitzustellen, der die Gelenke (18-1; 18-2; 18-3) biegt, wobei sie in diesem Fall optional ferner einen Federrückzug (140) umfasst, der mit jedem der Gelenke (18-1; 18-2; 18-3) gekoppelt ist, um die Gelenke (18-1; 18-2; 18-3) zu drängen, zu expandieren.
  4. Roboterfingermodul (12), das Folgendes umfasst:
    ein Aktuatormodul (90); und
    eine unteraktuierte Fingeranordnung (16), die an dem Aktuatormodul (90) montiert ist, wobei die Fingeranordnung (16) Folgendes umfasst:
    ein Fingerskelett (150; 160) mit mehreren Gelenken (18-1; 18-2; 18-3) einschließlich eines distalen Gelenks (18-3), eines mittleren Gelenks (18-2) und eines proximalen Gelenks (18-1); und
    ein Bremsteilsystem (158), das mit jedem der Gelenke (18-1; 18-2; 18-3) in Verbindung steht, das angepasst ist, um die Gelenke (18-1; 18-2; 18-3) individuell wahlweise zu verriegeln und zu entriegeln;
    dadurch gekennzeichnet, dass das Bremsteilsystem (158) eine mehrschichtige Elektrolaminatverbundstruktur einschließt, die in jedes Gelenk (18-1; 18-2; 18-3) integriert ist, wobei die mehrschichtige Elektrolaminatverbundstruktur das Gelenk (18-1; 18-2; 18-3) als Reaktion auf ein elektrisches Signal versteift.
  5. System nach Anspruch 4 und beliebiges Folgendes:
    a) wobei das Bremsteilsystem (158) Segmente von mehrschichtigen Elektrolaminatverbundstrukturen (180) einschließt und wobei sich die Schichten der mehrschichtigen Elektrolaminatverbundstrukturen (180) von angrenzenden Segmenten an jedem Gelenk (18-1; 18-2; 18-3) überlappen; oder
    b) wobei das Bremsteilsystem (158) zwei oder mehr Gelenke (18-1; 18-2; 18-3) als eine Gruppe verriegeln und entriegeln kann.
  6. Robotermanipulatorsystem, das Folgendes umfasst:
    eine Handflächenanordnung (14);
    ein oder mehrere Fingermodule (12), die mit der Handflächenanordnung (14) gekoppelt sind, wobei jedes Fingermodul (12) Folgendes umfasst:
    ein Aktuatormodul (90); und
    eine unteraktuierte Fingeranordnung (16), die an dem Aktuatormodul (90) montiert ist, wobei die Fingeranordnung (16) Folgendes umfasst:
    ein Fingerskelett (150; 160) mit mehreren Gelenken (18-1; 18-2; 18-3) einschließlich eines distalen Gelenks (18-3), eines mittleren Gelenks (18-2) und eines proximalen Gelenks (18-1); und
    ein Bremsteilsystem (158), das mit jedem der Gelenke (18-1; 18-2; 18-3) in Verbindung steht, das angepasst ist, um die Gelenke (18-1; 18-2; 18-3) individuell wahlweise zu verriegeln und zu entriegeln;
    dadurch gekennzeichnet, dass das Bremsteilsystem (158) eine mehrschichtige Elektrolaminatverbundstruktur (180) einschließt, die in jedes Gelenk (18-1; 18-2; 18-3) integriert ist, wobei die mehrschichtige Elektrolaminatverbundstruktur (180) das Gelenk (18-1; 18-2; 18-3) als Reaktion auf ein elektrisches Signal versteift.
  7. Robotermanipulatorsystem nach Anspruch 6, wobei das eine oder die mehreren Fingermodule (12) zwei Fingermodule (12) einschließen, die einander von gegenüberliegenden Seiten der Handflächenanordnung (14) gegenüberliegen, wobei in diesem Fall optional eines der Fingermodule (12) an einer der gegenüberliegenden Seiten der Handflächenanordnung (14) befestigt ist und das andere der beiden Module (12) mit der anderen der gegenüberliegenden Seiten der Handflächenanordnung (14) bewegbar gekoppelt ist.
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JP2014508659A (ja) 2014-04-10
EP2688720A4 (de) 2015-04-15
WO2012129254A3 (en) 2013-01-03
US9272425B2 (en) 2016-03-01
JP6092183B2 (ja) 2017-03-08
EP3954512A2 (de) 2022-02-16
US20150343647A1 (en) 2015-12-03
EP2688720A2 (de) 2014-01-29
WO2012129254A2 (en) 2012-09-27
US20140035306A1 (en) 2014-02-06
JP2017035780A (ja) 2017-02-16

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